CN208207557U - Safe investigation robot based on internet of things - Google Patents

Abstract

The utility model relates to a safety investigation robot based on the technology of the internet of things, which comprises a robot vehicle-mounted system and a rear command system; the sensor detection system comprises an external sensor and a robot internal detection sensor; the embedded gateway platform system comprises an ARM main controller, a serial port expansion module and a ZigBee network coordinator, wherein the ARM main controller is connected with the ZigBee network coordinator through the serial port expansion module, the ARM main controller is in wireless communication with an external sensor through the ZigBee network coordinator, the ARM main controller is also in wired connection with an internal detection sensor of the robot through the serial port expansion module, and the ARM main controller is in wireless connection with a rear command system; the motion control system comprises a single chip microcomputer, a motor driver and a direct current motor, wherein the single chip microcomputer is connected with the ARM main controller through a serial port extension module, and the single chip microcomputer drives the direct current motor through the motor driver.

Description

A security detection robot based on Internet of Things technology

technical field

The utility model relates to a safety investigation robot based on Internet of Things technology, and relates to the technical field of safety monitoring and alarming.

Background technique

With the rapid development of my country's urbanization level and the continuous improvement of modernization, various large-scale petrochemical enterprises, underground buildings, tunnel subways, etc. Then it keeps increasing. Fires in these dangerous places and various accidents caused by fires have occurred continuously, which have brought serious economic losses and casualties to our country. Moreover, the accident scene is often accompanied by various dangerous chemicals that are toxic, flammable, explosive, and corrosive, which brings serious obstacles to firefighters' fire fighting and rescue and poses a serious threat to their own safety. In the absence of a comprehensive reconnaissance and analysis of the accident scene, blindly taking action will not only fail to achieve the desired results, but will often result in the sacrifice of innocent lives and a heavy price. Therefore, it is necessary to develop a safety investigation robot that can replace fire rescue personnel to enter dangerous accident sites such as flammable, toxic, dense smoke, and hypoxia, and implement effective on-site investigation, chemical inspection, fire fighting and rescue tasks. .

Domestic fire-fighting robots are mainly program-controlled crawler fire-fighting vehicles, and there is huge room for intelligent upgrades. As early as 1995, my country developed the first fire-fighting robot. After that, the Shanghai Fire-fighting Research Institute of the Ministry of Public Security, Shanghai Jiaotong University, and Shanghai Fire Bureau carried out major research respectively, and then corresponding fire-fighting robot research institutions were established one after another. On August 16, 2010, the Technical Supervision Committee of the Ministry of Public Security issued the industry standard GA 892.1-2010 "Fire-fighting Robot Part 1: General Technical Conditions" and implemented it on October 1, 2010. It stipulates that fire-fighting robots Terms and definitions, classification, model establishment, functions, performance requirements, test methods, etc. The release and implementation of the GA 892.1-2010 standard will further guide the research of fire-fighting robots to the direction of practicality, which is of great significance to promote the technological innovation of my country's fire-fighting robot industry. According to the requirements of the GA 892.1-2010 standard, the reconnaissance function of the safety reconnaissance robot should meet the requirements of real-time information collection at the disaster site and real-time transmission to the rear console. Safety detection robots should have basic functions such as walking (going straight, turning, climbing, overcoming obstacles, etc.), control, and self-protection functions such as anti-overturning and anti-collision. , wind speed, wind direction, etc.), image, voice and other information collection functions, two-way or redundant communication functions, etc.

Based on the above requirements, the safety investigation robot needs to be equipped with more types of sensors, have strong self-protection capabilities and reliable communication connection capabilities, and the equipped sensors must be able to flexibly change according to the needs of reconnaissance. It is difficult to design conventional mobile robots to meet the above requirements, which limits the application and development of security detection robots. The Internet of Things is the third wave of the information industry after computers, the Internet and mobile communication networks. The Internet of Things technology has three characteristics: comprehensive perception, reliable transmission, and intelligent processing. It can be well solved by applying it to the design of security detection robots. above question.

Utility model content

In view of the above problems, the purpose of this utility model is to provide a security investigation robot based on Internet of Things technology with reliable communication connection capability and strong scalability.

In order to achieve the above object, the utility model adopts the following technical solutions: a security investigation robot based on Internet of Things technology, characterized in that the robot includes a robot vehicle-mounted system and a rear command system; the robot vehicle-mounted system includes a robot body, sensor detection system, an embedded gateway platform system, a motion control system, and a power supply system; the sensor detection system includes external sensors and robot internal detection sensors, and the external sensors are arranged through wireless sensor nodes; On the top of the robot body, the top of the loading compartment is also provided with an antenna, and the external sensor and the antenna form a sensing network for mobile reconnaissance; the internal detection sensor of the robot communicates through a wired method; the embedded gateway platform The system includes an ARM main controller, a serial port expansion module and a ZigBee network coordinator, the ARM main controller is connected to the ZigBee network coordinator through the serial port expansion module, and the ARM main controller is connected to the ZigBee network coordinator through the ZigBee network coordinator The external sensor performs wireless communication, and the ARM master controller is wirelessly connected to the rear command system; the motion control system includes a single-chip microcomputer, a motor driver and a DC motor, and the single-chip microcomputer is connected to the ARM main controller through the serial port expansion module. A controller, the single-chip microcomputer drives the DC motor through the motor driver; the power supply system is used to supply power to all electrical devices.

Further, the external sensors include a temperature and humidity sensor, a gas detection sensor, a wind sensor, a wind direction sensor, a distance sensor, an infrared thermal imager, and a camera with a pan-tilt camera, which acquire the temperature and humidity, wind speed, wind direction, and smoke at each point of the accident scene in real time. Gas concentration, toxic and harmful gas concentration, distance and on-site video and audio information, the temperature and humidity sensor, gas detection sensor, wind sensor, wind direction sensor and distance sensor perform wireless communication with the ARM controller through the ZigBee network coordinator; The infrared thermal imaging camera and the camera with a pan-tilt are wirelessly connected to the ARM main controller through a wireless router.

Further, the internal detection sensor of the robot includes an attitude measurement sensor and a GPS sensor, the attitude measurement sensor is wired to the single-chip microcomputer, and the ARM main controller is also wired to the GPS sensor through the serial port expansion module.

Further, the robot body adopts a crawler robot.

Because the utility model adopts the above technical scheme, it has the following advantages: 1. The wireless sensor nodes of the utility model based on the Internet of Things can self-organize a network, which ensures that the number of nodes in the sensor network increases or decreases dynamically, and has high reliability. Scalability, and it can also be networked with other wireless sensor nodes to expand the scope of reconnaissance. 2. The utility model adopts a low-power wireless sensor layout method, which can effectively solve the problems of difficult sensor communication technology wiring, complicated wiring, difficult expansion, and low reliability in security investigation robots. 3. The utility model is based on the Internet of Things technology, which can form a network of robots and robots, a network of robots and people, and a network of robots and sensors preset on site, so as to realize the sharing of fire resource information, thereby providing commanders and firefighters with comprehensive, Timely and accurate on-site information can avoid the sacrifice of innocent lives and protect the safety of fire fighters. The utility model can be widely used in the reconnaissance of various fire scenes.

Description of drawings

Fig. 1 is a structural schematic diagram of a safety investigation robot of the present utility model;

Fig. 2 is a schematic diagram of the hardware connection structure of the robot vehicle-mounted system of the present invention;

Fig. 3 is a schematic diagram of a robot body model of the present invention.

Detailed ways

The utility model is described in detail below in conjunction with accompanying drawing. However, it should be understood that the drawings are only provided for better understanding of the utility model, and they should not be construed as limiting the utility model.

As shown in FIG. 1 , the security investigation robot based on the Internet of Things technology provided by the utility model includes a vehicle-mounted robot system 1 and a rear command system 2 .

The vehicle-mounted robot system 1 includes a robot body 11 , a sensor detection system 12 , an embedded gateway platform system 13 and a motion control system 14 .

The robot body 11 can be a crawler robot, which is taken as an example, and is not limited thereto, and other types of robots can be selected according to actual needs.

The sensor detection system 12 is used to obtain the state information of the robot body 11 itself and the environment information of the accident scene. The sensor detection system 12 includes external sensors and internal detection sensors of the robot. The external sensors are arranged in the form of wireless sensor nodes, and the wireless sensor nodes are equipped with various The wireless sensor obtains the environmental information of the accident scene in real time. The types of wireless sensors can be selected according to different reconnaissance tasks, such as temperature and humidity sensors, gas detection sensors, wind sensors, wind direction sensors, distance sensors, infrared thermal imaging cameras, and cameras with PTZ, etc. Through the corresponding wireless sensors equipped, the temperature and humidity, wind speed, wind direction, smoke concentration, toxic and harmful gas concentration, distance and on-site video and audio information of each point of the accident scene can be obtained in real time. The wireless sensor can be fixedly installed on the top of the robot body 11 through the loading compartment 3, and the top of the loading compartment 3 is also provided with an antenna 4. The wireless sensor and the antenna 4 form a mobile reconnaissance network, and the wireless sensor performs real-time information through the antenna 4 while sensing. send. The internal detection sensor of the robot is used to detect the state and position of the robot body 11. The internal detection sensor of the robot can be an attitude measurement sensor and a GPS sensor, etc., and the internal detection sensor of the robot can use a wired method for data transmission.

The embedded gateway platform system 13 obtains the accident scene and the state information of the robot body 11 itself through wireless or wired means and sends it wirelessly to the rear command system 2, so as to provide the commander with timely, accurate and comprehensive on-site information, thereby ensuring the accuracy of the accident scene information. Accuracy and Timeliness. The embedded gateway platform system 13 includes an ARM main controller 131, a serial port expansion module 132 and a ZigBee network coordinator 133. The ARM main controller 131 connects the infrared thermal imager and the camera with a PTZ through a wireless router for wireless communication, and the ARM main controller 131 is connected to the ZigBee network coordinator 133 through the serial port expansion module 132, and the ARM main controller 131 performs wireless communication with the wireless sensor through the ZigBee network coordinator 133. The ARM main controller 131 is also wired to a GPS sensor through a serial port expansion module 132 for acquiring the position of the robot body 11 .

The motion control system 14 is used to receive and solve motion control commands, operate and control the robot body 11, and complete various actions of the safety investigation operation. The motion control system 14 includes a single-chip microcomputer 141, a motor driver 142 and a DC motor 143. The single-chip microcomputer 141 passes The serial port expansion module 132 is connected to the ARM main controller 131, and the attitude measurement sensor is connected to the single-chip microcomputer 141 by wire. The single-chip microcomputer 141 outputs the PWM signal for controlling the DC motor according to the control command sent by the ARM main controller 131, and drives the DC motor 143 after being amplified by the motor driver 142, and the DC motor 143 returns the speed of the DC motor through a built-in encoder to realize closed-loop control.

The power supply system is used to supply power to all electrical components of the security detection robot, including conventional circuits such as lithium battery packs, protection circuits, and DC-DC voltage regulator circuits.

The rear command system 2 can use a computer to wirelessly connect to the ARM main controller 131, remotely control the robot body 11 to conduct mobile reconnaissance on the accident scene through the ARM main controller 131, obtain accurate and reliable environmental information, and process and fuse the accident scene data. Provide auxiliary decision-making for commanders in fire fighting and rescue.

The above-mentioned embodiments are only used to illustrate the utility model, wherein the structure, connection mode and manufacturing process of each component can be changed to some extent, and all equivalent transformations and improvements carried out on the basis of the technical solution of the utility model are applicable. It should not be excluded from the protection scope of the present utility model.

Claims (4)

1. A security detection robot based on Internet of Things technology, characterized in that the robot includes a robot vehicle-mounted system and a rear command system; The vehicle-mounted robot system includes a robot body, a sensor detection system, an embedded gateway platform system, a motion control system and a power supply system; The sensor detection system includes external sensors and internal detection sensors of the robot. The external sensors are arranged in the form of wireless sensor nodes. The external sensors are fixed on the top of the robot body through the loading compartment, and the top of the loading compartment An antenna is provided, and the external sensor and the antenna form a sensing network for mobile reconnaissance; the internal detection sensor of the robot communicates through a wired method; The embedded gateway platform system includes an ARM main controller, a serial port expansion module and a ZigBee network coordinator, the ARM main controller is connected to the ZigBee network coordinator through the serial port expansion module, and the ARM main controller is connected to the ZigBee network coordinator through the serial port expansion module. The ZigBee network coordinator communicates wirelessly with the external sensor, and the ARM main controller is wirelessly connected to the rear command system; The motion control system includes a single-chip microcomputer, a motor driver and a DC motor, the single-chip microcomputer is connected to the ARM main controller through the serial port expansion module, and the single-chip microcomputer drives the DC motor through the motor driver; The power supply system is used to supply power to all electrical devices. 2. The security detection robot based on the Internet of Things technology according to claim 1, wherein the external sensors include temperature and humidity sensors, gas detection sensors, wind sensors, wind direction sensors, distance sensors, thermal imaging cameras and belt PTZ camera, real-time acquisition of temperature and humidity, wind speed, wind direction, smoke concentration, toxic and harmful gas concentration, distance and on-site video and audio information at each point of the accident scene, the temperature and humidity sensor, gas detection sensor, wind sensor, wind direction sensor and The distance sensor communicates wirelessly with the ARM controller through the ZigBee network coordinator; the infrared thermal imager and the camera with a pan-tilt are wirelessly connected to the ARM main controller through a wireless router. 3. according to claim 1 and 2 described security detection robots based on Internet of Things technology, it is characterized in that, described robot internal detection sensor comprises attitude measurement sensor and GPS sensor, and described attitude measurement sensor is wired connection described single-chip microcomputer, The ARM main controller is also wired to the GPS sensor through the serial port expansion module. 4. The security investigation robot based on the Internet of Things technology according to claim 1 or 2, wherein the robot body adopts a crawler robot.